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<a href="#pub-methods">Public Member Functions</a> &#124;
<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
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<p>Utility class to compute and manipulate mass and inertia tensor properties.  
 <a href="classPxMassProperties.html#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="PxMassProperties_8h_source.html">PxMassProperties.h</a>&gt;</code></p>
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Collaboration diagram for PxMassProperties:</div>
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<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a1cbdb127fcb5b2b3617693e24ccdb49b"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__foundation.html#ga6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxMassProperties.html#a1cbdb127fcb5b2b3617693e24ccdb49b">PxMassProperties</a> ()</td></tr>
<tr class="memdesc:a1cbdb127fcb5b2b3617693e24ccdb49b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Default constructor.  <a href="#a1cbdb127fcb5b2b3617693e24ccdb49b">More...</a><br /></td></tr>
<tr class="separator:a1cbdb127fcb5b2b3617693e24ccdb49b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5a7eadca391b0cd981c0b35e08c82662"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__foundation.html#ga6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxMassProperties.html#a5a7eadca391b0cd981c0b35e08c82662">PxMassProperties</a> (const PxReal m, const <a class="el" href="classPxMat33.html">PxMat33</a> &amp;inertiaT, const <a class="el" href="classPxVec3.html">PxVec3</a> &amp;com)</td></tr>
<tr class="memdesc:a5a7eadca391b0cd981c0b35e08c82662"><td class="mdescLeft">&#160;</td><td class="mdescRight">Construct from individual elements.  <a href="#a5a7eadca391b0cd981c0b35e08c82662">More...</a><br /></td></tr>
<tr class="separator:a5a7eadca391b0cd981c0b35e08c82662"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acc8eadc90e93df0e25d4dfb63988a596"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxMassProperties.html#acc8eadc90e93df0e25d4dfb63988a596">PxMassProperties</a> (const <a class="el" href="classPxGeometry.html">PxGeometry</a> &amp;<a class="el" href="PxGeometryHelpers_8h.html#aa55209c75b105f03f459417b08801e69">geometry</a>)</td></tr>
<tr class="memdesc:acc8eadc90e93df0e25d4dfb63988a596"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compute mass properties based on a provided geometry structure.  <a href="#acc8eadc90e93df0e25d4dfb63988a596">More...</a><br /></td></tr>
<tr class="separator:acc8eadc90e93df0e25d4dfb63988a596"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a85e7fed6380689c668afa3f531013d2b"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__foundation.html#ga6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <a class="el" href="classPxMassProperties.html">PxMassProperties</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxMassProperties.html#a85e7fed6380689c668afa3f531013d2b">operator*</a> (const PxReal scale) const</td></tr>
<tr class="memdesc:a85e7fed6380689c668afa3f531013d2b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Scale mass properties.  <a href="#a85e7fed6380689c668afa3f531013d2b">More...</a><br /></td></tr>
<tr class="separator:a85e7fed6380689c668afa3f531013d2b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6b65afdb22147ade5f1ca7f77e591924"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__foundation.html#ga6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxMassProperties.html#a6b65afdb22147ade5f1ca7f77e591924">translate</a> (const <a class="el" href="classPxVec3.html">PxVec3</a> &amp;t)</td></tr>
<tr class="memdesc:a6b65afdb22147ade5f1ca7f77e591924"><td class="mdescLeft">&#160;</td><td class="mdescRight">Translate the center of mass by a given vector and adjust the inertia tensor accordingly.  <a href="#a6b65afdb22147ade5f1ca7f77e591924">More...</a><br /></td></tr>
<tr class="separator:a6b65afdb22147ade5f1ca7f77e591924"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
Static Public Member Functions</h2></td></tr>
<tr class="memitem:a53afd0d4b906ee9d96b23ea0bb41287b"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="group__foundation.html#ga6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <a class="el" href="classPxVec3.html">PxVec3</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxMassProperties.html#a53afd0d4b906ee9d96b23ea0bb41287b">getMassSpaceInertia</a> (const <a class="el" href="classPxMat33.html">PxMat33</a> &amp;inertia, <a class="el" href="classPxQuat.html">PxQuat</a> &amp;massFrame)</td></tr>
<tr class="memdesc:a53afd0d4b906ee9d96b23ea0bb41287b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the entries of the diagonalized inertia tensor and the corresponding reference rotation.  <a href="#a53afd0d4b906ee9d96b23ea0bb41287b">More...</a><br /></td></tr>
<tr class="separator:a53afd0d4b906ee9d96b23ea0bb41287b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acf94746d2a0e2e989bad06d97c6c387b"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="group__foundation.html#ga6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <a class="el" href="classPxMat33.html">PxMat33</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxMassProperties.html#acf94746d2a0e2e989bad06d97c6c387b">translateInertia</a> (const <a class="el" href="classPxMat33.html">PxMat33</a> &amp;inertia, const PxReal <a class="el" href="classPxMassProperties.html#a978392fb04bb472602f9fc1315d5f116">mass</a>, const <a class="el" href="classPxVec3.html">PxVec3</a> &amp;t)</td></tr>
<tr class="memdesc:acf94746d2a0e2e989bad06d97c6c387b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Translate an inertia tensor using the parallel axis theorem.  <a href="#acf94746d2a0e2e989bad06d97c6c387b">More...</a><br /></td></tr>
<tr class="separator:acf94746d2a0e2e989bad06d97c6c387b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4d63a246cd8a59f8709126a4b4528fb6"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="group__foundation.html#ga6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <a class="el" href="classPxMat33.html">PxMat33</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxMassProperties.html#a4d63a246cd8a59f8709126a4b4528fb6">rotateInertia</a> (const <a class="el" href="classPxMat33.html">PxMat33</a> &amp;inertia, const <a class="el" href="classPxQuat.html">PxQuat</a> &amp;q)</td></tr>
<tr class="memdesc:a4d63a246cd8a59f8709126a4b4528fb6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Rotate an inertia tensor around the center of mass.  <a href="#a4d63a246cd8a59f8709126a4b4528fb6">More...</a><br /></td></tr>
<tr class="separator:a4d63a246cd8a59f8709126a4b4528fb6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4ba3bf338320c9f0bf558b5d3a9046bd"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classPxMat33.html">PxMat33</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxMassProperties.html#a4ba3bf338320c9f0bf558b5d3a9046bd">scaleInertia</a> (const <a class="el" href="classPxMat33.html">PxMat33</a> &amp;inertia, const <a class="el" href="classPxQuat.html">PxQuat</a> &amp;scaleRotation, const <a class="el" href="classPxVec3.html">PxVec3</a> &amp;scale)</td></tr>
<tr class="memdesc:a4ba3bf338320c9f0bf558b5d3a9046bd"><td class="mdescLeft">&#160;</td><td class="mdescRight">Non-uniform scaling of the inertia tensor.  <a href="#a4ba3bf338320c9f0bf558b5d3a9046bd">More...</a><br /></td></tr>
<tr class="separator:a4ba3bf338320c9f0bf558b5d3a9046bd"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a63e7875cb60efa35150002e56fcfa43f"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classPxMassProperties.html">PxMassProperties</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxMassProperties.html#a63e7875cb60efa35150002e56fcfa43f">sum</a> (const <a class="el" href="classPxMassProperties.html">PxMassProperties</a> *props, const <a class="el" href="classPxTransform.html">PxTransform</a> *transforms, const <a class="el" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> count)</td></tr>
<tr class="memdesc:a63e7875cb60efa35150002e56fcfa43f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sum up individual mass properties.  <a href="#a63e7875cb60efa35150002e56fcfa43f">More...</a><br /></td></tr>
<tr class="separator:a63e7875cb60efa35150002e56fcfa43f"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr class="memitem:aeefe4de17f788dacbf9c48fd5ec857ac"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classPxMat33.html">PxMat33</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxMassProperties.html#aeefe4de17f788dacbf9c48fd5ec857ac">inertiaTensor</a></td></tr>
<tr class="memdesc:aeefe4de17f788dacbf9c48fd5ec857ac"><td class="mdescLeft">&#160;</td><td class="mdescRight">The inertia tensor of the object.  <a href="#aeefe4de17f788dacbf9c48fd5ec857ac">More...</a><br /></td></tr>
<tr class="separator:aeefe4de17f788dacbf9c48fd5ec857ac"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8f4e5b19248941b3ee2369afadb20e96"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classPxVec3.html">PxVec3</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxMassProperties.html#a8f4e5b19248941b3ee2369afadb20e96">centerOfMass</a></td></tr>
<tr class="memdesc:a8f4e5b19248941b3ee2369afadb20e96"><td class="mdescLeft">&#160;</td><td class="mdescRight">The center of mass of the object.  <a href="#a8f4e5b19248941b3ee2369afadb20e96">More...</a><br /></td></tr>
<tr class="separator:a8f4e5b19248941b3ee2369afadb20e96"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a978392fb04bb472602f9fc1315d5f116"><td class="memItemLeft" align="right" valign="top">PxReal&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classPxMassProperties.html#a978392fb04bb472602f9fc1315d5f116">mass</a></td></tr>
<tr class="memdesc:a978392fb04bb472602f9fc1315d5f116"><td class="mdescLeft">&#160;</td><td class="mdescRight">The mass of the object.  <a href="#a978392fb04bb472602f9fc1315d5f116">More...</a><br /></td></tr>
<tr class="separator:a978392fb04bb472602f9fc1315d5f116"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Utility class to compute and manipulate mass and inertia tensor properties. </p>
<p>In most cases <a class="el" href="classPxRigidBodyExt.html#a769be90cdb138897ce426aa04ac0a1e7" title="Computation of mass properties for a rigid body actor. ">PxRigidBodyExt::updateMassAndInertia()</a>, <a class="el" href="classPxRigidBodyExt.html#ab8f6af57a0fde875c41e5d747dec49fb" title="Computation of mass properties for a rigid body actor. ">PxRigidBodyExt::setMassAndUpdateInertia()</a> should be enough to setup the mass properties of a rigid body. This utility class targets users that need to customize the mass properties computation. </p>
</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
<a id="a1cbdb127fcb5b2b3617693e24ccdb49b"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a1cbdb127fcb5b2b3617693e24ccdb49b">&#9670;&nbsp;</a></span>PxMassProperties() <span class="overload">[1/3]</span></h2>

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          <td class="memname"><a class="el" href="group__foundation.html#ga6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> PxMassProperties::PxMassProperties </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
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<p>Default constructor. </p>

</div>
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<a id="a5a7eadca391b0cd981c0b35e08c82662"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a5a7eadca391b0cd981c0b35e08c82662">&#9670;&nbsp;</a></span>PxMassProperties() <span class="overload">[2/3]</span></h2>

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          <td class="memname"><a class="el" href="group__foundation.html#ga6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> PxMassProperties::PxMassProperties </td>
          <td>(</td>
          <td class="paramtype">const PxReal&#160;</td>
          <td class="paramname"><em>m</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="classPxMat33.html">PxMat33</a> &amp;&#160;</td>
          <td class="paramname"><em>inertiaT</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="classPxVec3.html">PxVec3</a> &amp;&#160;</td>
          <td class="paramname"><em>com</em>&#160;</td>
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          <td>)</td>
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<p>Construct from individual elements. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#acc8eadc90e93df0e25d4dfb63988a596">&#9670;&nbsp;</a></span>PxMassProperties() <span class="overload">[3/3]</span></h2>

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          <td class="memname">PxMassProperties::PxMassProperties </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classPxGeometry.html">PxGeometry</a> &amp;&#160;</td>
          <td class="paramname"><em>geometry</em></td><td>)</td>
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<p>Compute mass properties based on a provided geometry structure. </p>
<p>This constructor assumes the geometry has a density of 1. Mass and inertia tensor scale linearly with density.</p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">geometry</td><td>The geometry to compute the mass properties for. Supported geometry types are: sphere, box, capsule and convex mesh. </td></tr>
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<p class="reference">References <a class="el" href="classPxConvexMeshGeometry.html#a2fdc589d347de81e55c8b45b7c133feb">PxConvexMeshGeometry::convexMesh</a>, <a class="el" href="classPxMat33.html#ae7052afa072d3c45c1f570a6a794c6a5">PxMat33::createDiagonal()</a>, <a class="el" href="structPxGeometryType.html#aefc79f72c4c479192ac19d41a6f30ed5a4ac248bdee2283c0471c9dc0eba40c34">PxGeometryType::eBOX</a>, <a class="el" href="structPxGeometryType.html#aefc79f72c4c479192ac19d41a6f30ed5a78c4217b41a6ba726f8a77faecf46bb8">PxGeometryType::eCAPSULE</a>, <a class="el" href="structPxGeometryType.html#aefc79f72c4c479192ac19d41a6f30ed5a9f3d57b4f0e71ce2a6cf29bee36162ed">PxGeometryType::eCONVEXMESH</a>, <a class="el" href="structPxGeometryType.html#aefc79f72c4c479192ac19d41a6f30ed5afa28e3dbd2e28f7c0948c35723f42105">PxGeometryType::eGEOMETRY_COUNT</a>, <a class="el" href="structPxGeometryType.html#aefc79f72c4c479192ac19d41a6f30ed5a77b1d68c4f5a18bc259a623e1497a880">PxGeometryType::eHEIGHTFIELD</a>, <a class="el" href="structPxGeometryType.html#aefc79f72c4c479192ac19d41a6f30ed5a73f7721d7db869464f4038638466d5ac">PxGeometryType::eINVALID</a>, <a class="el" href="structPxGeometryType.html#aefc79f72c4c479192ac19d41a6f30ed5a31e6fe000bdf2ba4c3bd2527351247fc">PxGeometryType::ePLANE</a>, <a class="el" href="structPxGeometryType.html#aefc79f72c4c479192ac19d41a6f30ed5a2c5cbcb67ffa54ebcdc1674f12b07fb8">PxGeometryType::eSPHERE</a>, <a class="el" href="structPxGeometryType.html#aefc79f72c4c479192ac19d41a6f30ed5a6b3210a7dca3bddcc8755338987725eb">PxGeometryType::eTRIANGLEMESH</a>, <a class="el" href="PxGeometryHelpers_8h.html#aa55209c75b105f03f459417b08801e69">geometry</a>, <a class="el" href="classPxConvexMesh.html#a497cea6e1975b9081760afc602985bbc">PxConvexMesh::getMassInformation()</a>, <a class="el" href="classPxBoxGeometry.html#a8fe8be4ca1467353956634d550dc8561">PxBoxGeometry::halfExtents</a>, <a class="el" href="classPxCapsuleGeometry.html#af5affd7d085f89d0a90a35b97214cc40">PxCapsuleGeometry::halfHeight</a>, <a class="el" href="classPxVec3.html#af4b49e74946c63d292cd979fa216cd85">PxVec3::multiply()</a>, <a class="el" href="group__foundation.html#ga4a83a657390b324a460f14684e5accee">PX_ASSERT</a>, <a class="el" href="group__foundation.html#gad6de0f4af98c5c5280b8fe695dc87318">PxIsFinite()</a>, <a class="el" href="group__foundation.html#gabcd49a429b8119de54375b3538ae8a8d">PxPi</a>, <a class="el" href="classPxSphereGeometry.html#a092be2e608f402b2c2da0309ad6fb2df">PxSphereGeometry::radius</a>, <a class="el" href="classPxCapsuleGeometry.html#ac4f07af35bc86338c5bd01e11266dadd">PxCapsuleGeometry::radius</a>, <a class="el" href="classPxQuat.html#a2bafc323c17556f69e17ffccdd127dd1">PxQuat::rotate()</a>, <a class="el" href="classPxQuat.html#a3f2432f5a2682489eb889ea178f364be">PxQuat::rotateInv()</a>, <a class="el" href="classPxMeshScale.html#a63902c04c9a3f326b5f969fa931e53fd">PxMeshScale::rotation</a>, <a class="el" href="classPxConvexMeshGeometry.html#a777f625bb1fd49fabf03eb4be02ed581">PxConvexMeshGeometry::scale</a>, <a class="el" href="classPxMeshScale.html#a12f2dbcf5214c4c5956dab0e75831449">PxMeshScale::scale</a>, <a class="el" href="classPxVec3.html#a391194bca8291161c06254f4ac2b6ada">PxVec3::x</a>, <a class="el" href="classPxVec3.html#a29958700f50da2204edc519b47706a05">PxVec3::y</a>, and <a class="el" href="classPxVec3.html#a50d67b162b99b904c3f362ad0415dbca">PxVec3::z</a>.</p>

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<h2 class="groupheader">Member Function Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a53afd0d4b906ee9d96b23ea0bb41287b">&#9670;&nbsp;</a></span>getMassSpaceInertia()</h2>

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          <td class="memname">static <a class="el" href="group__foundation.html#ga6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <a class="el" href="classPxVec3.html">PxVec3</a> PxMassProperties::getMassSpaceInertia </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classPxMat33.html">PxMat33</a> &amp;&#160;</td>
          <td class="paramname"><em>inertia</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="classPxQuat.html">PxQuat</a> &amp;&#160;</td>
          <td class="paramname"><em>massFrame</em>&#160;</td>
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<p>Get the entries of the diagonalized inertia tensor and the corresponding reference rotation. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">inertia</td><td>The inertia tensor to diagonalize. </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">massFrame</td><td>The frame the diagonalized tensor refers to. </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>The entries of the diagonalized inertia tensor. </dd></dl>

<p class="reference">References <a class="el" href="classPxMat33.html#a89d12d4e50ffc5ef8e480bdd3dadb78a">PxMat33::column0</a>, <a class="el" href="classPxMat33.html#a62f190479e12e7b9ec5cf831b23c95e9">PxMat33::column1</a>, <a class="el" href="classPxMat33.html#a9af2a3d4f9cca979c3e46a6406de6957">PxMat33::column2</a>, <a class="el" href="classPxQuat.html#a1c665c57310b414f973f7d90d6b89c2a">PxQuat::isFinite()</a>, <a class="el" href="classPxVec3.html#a2872352117f5ce82ff60ef28207be947">PxVec3::isFinite()</a>, <a class="el" href="group__foundation.html#ga4a83a657390b324a460f14684e5accee">PX_ASSERT</a>, and <a class="el" href="group__common.html#gade7a77d4ae9d14e363364a9d72cf4932">PxDiagonalize()</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a85e7fed6380689c668afa3f531013d2b">&#9670;&nbsp;</a></span>operator*()</h2>

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          <td class="memname"><a class="el" href="group__foundation.html#ga6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> <a class="el" href="classPxMassProperties.html">PxMassProperties</a> PxMassProperties::operator* </td>
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          <td class="paramname"><em>scale</em></td><td>)</td>
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<p>Scale mass properties. </p>
<dl class="params"><dt>Parameters</dt><dd>
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    <tr><td class="paramdir">[in]</td><td class="paramname">scale</td><td>The linear scaling factor to apply to the mass properties. </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>The scaled mass properties. </dd></dl>

<p class="reference">References <a class="el" href="group__foundation.html#ga4a83a657390b324a460f14684e5accee">PX_ASSERT</a>, and <a class="el" href="group__foundation.html#gad6de0f4af98c5c5280b8fe695dc87318">PxIsFinite()</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a4d63a246cd8a59f8709126a4b4528fb6">&#9670;&nbsp;</a></span>rotateInertia()</h2>

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          <td>(</td>
          <td class="paramtype">const <a class="el" href="classPxMat33.html">PxMat33</a> &amp;&#160;</td>
          <td class="paramname"><em>inertia</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="classPxQuat.html">PxQuat</a> &amp;&#160;</td>
          <td class="paramname"><em>q</em>&#160;</td>
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<p>Rotate an inertia tensor around the center of mass. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">inertia</td><td>The inertia tensor to rotate. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">q</td><td>The rotation to apply to the inertia tensor. </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>The rotated inertia tensor. </dd></dl>

<p class="reference">References <a class="el" href="classPxMat33.html#a89d12d4e50ffc5ef8e480bdd3dadb78a">PxMat33::column0</a>, <a class="el" href="classPxMat33.html#a62f190479e12e7b9ec5cf831b23c95e9">PxMat33::column1</a>, <a class="el" href="classPxMat33.html#a9af2a3d4f9cca979c3e46a6406de6957">PxMat33::column2</a>, <a class="el" href="classPxMat33.html#a03af319e25574c59fb66ceb675bb6b56">PxMat33::getTranspose()</a>, <a class="el" href="classPxVec3.html#a2872352117f5ce82ff60ef28207be947">PxVec3::isFinite()</a>, <a class="el" href="classPxQuat.html#a35ac53818eeab314fc2888542b969544">PxQuat::isUnit()</a>, and <a class="el" href="group__foundation.html#ga4a83a657390b324a460f14684e5accee">PX_ASSERT</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a4ba3bf338320c9f0bf558b5d3a9046bd">&#9670;&nbsp;</a></span>scaleInertia()</h2>

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          <td class="memname">static <a class="el" href="classPxMat33.html">PxMat33</a> PxMassProperties::scaleInertia </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classPxMat33.html">PxMat33</a> &amp;&#160;</td>
          <td class="paramname"><em>inertia</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="classPxQuat.html">PxQuat</a> &amp;&#160;</td>
          <td class="paramname"><em>scaleRotation</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="classPxVec3.html">PxVec3</a> &amp;&#160;</td>
          <td class="paramname"><em>scale</em>&#160;</td>
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          <td>)</td>
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<p>Non-uniform scaling of the inertia tensor. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">inertia</td><td>The inertia tensor to scale. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">scaleRotation</td><td>The frame of the provided scaling factors. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">scale</td><td>The scaling factor for each axis (relative to the frame specified in scaleRotation). </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>The scaled inertia tensor. </dd></dl>

<p class="reference">References <a class="el" href="classPxMat33.html#a89d12d4e50ffc5ef8e480bdd3dadb78a">PxMat33::column0</a>, <a class="el" href="classPxMat33.html#a62f190479e12e7b9ec5cf831b23c95e9">PxMat33::column1</a>, <a class="el" href="classPxMat33.html#a9af2a3d4f9cca979c3e46a6406de6957">PxMat33::column2</a>, <a class="el" href="classPxVec3.html#a4c136327953ea1b09be10d979279b7dc">PxVec3::dot()</a>, <a class="el" href="classPxQuat.html#a955317d16f9eeb450c4d37d3d8a3f638">PxQuat::getConjugate()</a>, <a class="el" href="classPxVec3.html#a2872352117f5ce82ff60ef28207be947">PxVec3::isFinite()</a>, <a class="el" href="classPxQuat.html#a35ac53818eeab314fc2888542b969544">PxQuat::isUnit()</a>, <a class="el" href="classPxVec3.html#af4b49e74946c63d292cd979fa216cd85">PxVec3::multiply()</a>, <a class="el" href="group__foundation.html#ga4a83a657390b324a460f14684e5accee">PX_ASSERT</a>, <a class="el" href="classPxVec3.html#a391194bca8291161c06254f4ac2b6ada">PxVec3::x</a>, <a class="el" href="classPxVec3.html#a29958700f50da2204edc519b47706a05">PxVec3::y</a>, and <a class="el" href="classPxVec3.html#a50d67b162b99b904c3f362ad0415dbca">PxVec3::z</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a63e7875cb60efa35150002e56fcfa43f">&#9670;&nbsp;</a></span>sum()</h2>

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          <td>(</td>
          <td class="paramtype">const <a class="el" href="classPxMassProperties.html">PxMassProperties</a> *&#160;</td>
          <td class="paramname"><em>props</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="classPxTransform.html">PxTransform</a> *&#160;</td>
          <td class="paramname"><em>transforms</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a>&#160;</td>
          <td class="paramname"><em>count</em>&#160;</td>
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          <td>)</td>
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<p>Sum up individual mass properties. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">props</td><td>Array of mass properties to sum up. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">transforms</td><td>Reference transforms for each mass properties entry. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">count</td><td>The number of mass properties to sum up. </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>The summed up mass properties. </dd></dl>

<p class="reference">References <a class="el" href="classPxMat33.html#a89d12d4e50ffc5ef8e480bdd3dadb78a">PxMat33::column0</a>, <a class="el" href="classPxMat33.html#a62f190479e12e7b9ec5cf831b23c95e9">PxMat33::column1</a>, <a class="el" href="classPxMat33.html#a9af2a3d4f9cca979c3e46a6406de6957">PxMat33::column2</a>, <a class="el" href="classPxMassProperties.html#aeefe4de17f788dacbf9c48fd5ec857ac">inertiaTensor</a>, <a class="el" href="classPxVec3.html#a2872352117f5ce82ff60ef28207be947">PxVec3::isFinite()</a>, <a class="el" href="classPxMassProperties.html#a978392fb04bb472602f9fc1315d5f116">mass</a>, <a class="el" href="group__foundation.html#ga4a83a657390b324a460f14684e5accee">PX_ASSERT</a>, <a class="el" href="group__foundation.html#gad6de0f4af98c5c5280b8fe695dc87318">PxIsFinite()</a>, <a class="el" href="group__foundation.html#ggac10bd69c94c165a52f6de39678ef9d4ca0ea259a79d3556f2986a96b5fbf8d4bc">PxZero</a>, and <a class="el" href="classPxTransform.html#adf6d2666a8113a72b4abbfe2e993a781">PxTransform::transform()</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a6b65afdb22147ade5f1ca7f77e591924">&#9670;&nbsp;</a></span>translate()</h2>

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          <td class="memname"><a class="el" href="group__foundation.html#ga6a774eed3cad34b0f636332a3d28c6bb">PX_FORCE_INLINE</a> void PxMassProperties::translate </td>
          <td>(</td>
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<p>Translate the center of mass by a given vector and adjust the inertia tensor accordingly. </p>
<dl class="params"><dt>Parameters</dt><dd>
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    <tr><td class="paramdir">[in]</td><td class="paramname">t</td><td>The translation vector for the center of mass. </td></tr>
  </table>
  </dd>
</dl>

<p class="reference">References <a class="el" href="classPxVec3.html#a2872352117f5ce82ff60ef28207be947">PxVec3::isFinite()</a>, and <a class="el" href="group__foundation.html#ga4a83a657390b324a460f14684e5accee">PX_ASSERT</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#acf94746d2a0e2e989bad06d97c6c387b">&#9670;&nbsp;</a></span>translateInertia()</h2>

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          <td>(</td>
          <td class="paramtype">const <a class="el" href="classPxMat33.html">PxMat33</a> &amp;&#160;</td>
          <td class="paramname"><em>inertia</em>, </td>
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          <td class="paramtype">const PxReal&#160;</td>
          <td class="paramname"><em>mass</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="classPxVec3.html">PxVec3</a> &amp;&#160;</td>
          <td class="paramname"><em>t</em>&#160;</td>
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<p>Translate an inertia tensor using the parallel axis theorem. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">inertia</td><td>The inertia tensor to translate. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">mass</td><td>The mass of the object. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">t</td><td>The relative frame to translate the inertia tensor to. </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>The translated inertia tensor. </dd></dl>

<p class="reference">References <a class="el" href="classPxMat33.html#a89d12d4e50ffc5ef8e480bdd3dadb78a">PxMat33::column0</a>, <a class="el" href="classPxMat33.html#a62f190479e12e7b9ec5cf831b23c95e9">PxMat33::column1</a>, <a class="el" href="classPxMat33.html#a9af2a3d4f9cca979c3e46a6406de6957">PxMat33::column2</a>, <a class="el" href="classPxMat33.html#a03af319e25574c59fb66ceb675bb6b56">PxMat33::getTranspose()</a>, <a class="el" href="classPxVec3.html#a2872352117f5ce82ff60ef28207be947">PxVec3::isFinite()</a>, <a class="el" href="group__foundation.html#ga4a83a657390b324a460f14684e5accee">PX_ASSERT</a>, <a class="el" href="group__foundation.html#gad6de0f4af98c5c5280b8fe695dc87318">PxIsFinite()</a>, <a class="el" href="classPxVec3.html#a391194bca8291161c06254f4ac2b6ada">PxVec3::x</a>, <a class="el" href="classPxVec3.html#a29958700f50da2204edc519b47706a05">PxVec3::y</a>, and <a class="el" href="classPxVec3.html#a50d67b162b99b904c3f362ad0415dbca">PxVec3::z</a>.</p>

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<h2 class="groupheader">Member Data Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a8f4e5b19248941b3ee2369afadb20e96">&#9670;&nbsp;</a></span>centerOfMass</h2>

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<p>The center of mass of the object. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#aeefe4de17f788dacbf9c48fd5ec857ac">&#9670;&nbsp;</a></span>inertiaTensor</h2>

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<p>The inertia tensor of the object. </p>

<p class="reference">Referenced by <a class="el" href="classPxMassProperties.html#a63e7875cb60efa35150002e56fcfa43f">sum()</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a978392fb04bb472602f9fc1315d5f116">&#9670;&nbsp;</a></span>mass</h2>

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          <td class="memname">PxReal PxMassProperties::mass</td>
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<p>The mass of the object. </p>

<p class="reference">Referenced by <a class="el" href="classPxMassProperties.html#a63e7875cb60efa35150002e56fcfa43f">sum()</a>.</p>

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